CN106696598A - Omnidirectional wheel free of lateral swing - Google Patents
Omnidirectional wheel free of lateral swing Download PDFInfo
- Publication number
- CN106696598A CN106696598A CN201611206050.0A CN201611206050A CN106696598A CN 106696598 A CN106696598 A CN 106696598A CN 201611206050 A CN201611206050 A CN 201611206050A CN 106696598 A CN106696598 A CN 106696598A
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- CN
- China
- Prior art keywords
- wheel
- hub
- ball
- wheel hub
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0028—Construction of wheels; methods of assembling on axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0036—Castors in general; Anti-clogging castors characterised by type of wheels
- B60B33/0042—Double or twin wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2200/00—Type of product being used or applied
- B60B2200/40—Articles of daily use
- B60B2200/43—Carts
- B60B2200/434—Wheel barrows
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Toys (AREA)
Abstract
The invention discloses an omnidirectional wheel free of lateral swing. The omnidirectional wheel free of lateral swing comprises a left hub and a right hub, wherein the left hub and the right hub are mounted coaxially and fixedly and rotate front and back. Wheel sections which rotate left and right are evenly distributed on the hubs in the circumferential direction. The wheel sections on the left hub are staggered from the wheel sections on the right hub in position. One supporting ball or two or more supporting balls in the circumferential direction are arranged in the gap between every two wheel sections on the same hub. The supporting balls are mounted in corresponding ball holes of ball holders in a rolling mode. The ball holders are fixedly mounted in the gaps of the hubs. The exposed tops of the supporting balls and the outer contours of the wheel sections are located on the same circumference. When the omnidirectional wheel rolls purely, the supporting balls and the wheel sections make contact with the ground all the time, the problem of unbalanced running caused when only the wheel sections make contact with the ground is solved, the stability of the omnidirectional wheel is improved, and the adaptability of the omnidirectional wheel to dynamic complex environments is improved.
Description
Technical field
The present invention relates to wheel type traveling mechanism part, specially a kind of omni-directional wheel without sideshake.
Background technology
Omni-directional wheel is the support component of common wheeled road walking mechanism, its can realize vertical and horizontal it is comprehensive from
By moving, and with simple structure, rotate it is flexible the features such as, by extensively with handcart, conveyer, freight, luggage truck etc.
Form is applied to the occasions such as factory, hospital and market.
Existing omni-directional wheel can substantially be divided into two kinds, and one kind is single-wheel hub structure, such as Mecanum omni-directional wheel is this complete
It is made up of into the trundle (section wheel) of oblique 45 ° of angles some and wheel hub rotating shaft subsidiary in single-wheel hub and circumference of hub to wheel,
All-around mobile can be realized by the cooperation of wheel hub and trundle；Another kind is two-wheel hub structure, such as good fortune carrys out universal wheel, this
Plant the trundle of some and wheel hub rotating shaft angle in 90 ° that omni-directional wheel mutually staggers by double wheel hub and in two circumference of hub
(section wheel) composition, the trundle when omni-directional wheel is rotated on two wheel hubs sequentially can be contacted staggeredly with ground, so that real
Existing omni-directional wheel moving freely in machine and transverse direction.
For two kinds of described omni-directional wheels, the trundle of the latter's (two-wheel hub structure) contacts with ground can keep complete respectively
To the stability of wheel lengthwise movement.However, its trundle gabarit differs with the height of hub edge, in omni-directional wheel fortune
When dynamic, ground connection position can switch between the trundle on two wheel hubs, the height of this trundle gabarit and hub edge
Degree difference easily produce it is lateral it is left and right waves, so as to cause the unstable phenomenon of omni-directional wheel transverse movement, and this phenomenon can be with
Obvious all the more when trundle span becomes big.
The content of the invention
In view of the shortcomings of the prior art, the present invention proposes a kind of omni-directional wheel without sideshake.
Omni-directional wheel without sideshake of the invention, its technical scheme includes coaxially being fixedly mounted with the left and right wheel hub of forward and backward rotation,
The section wheel for turning left and right is evenly distributed on each wheel hub, the section wheel on left and right wheel hub is staggeredly located, except that same wheel
Section wheel interval on hub is provided with one or two balls supported above along the circumferential direction, and each support ball is rolled and is installed on rolling
In the corresponding hole of bead of pearl seat, the ball base is installed on the wheel hub of interval, and the top and each section that each support ball exposes are taken turns
Outline be in same circumference on.
A kind of structure of the ball base includes left and right side plate and the top board being connected at the top of left and right side plate, the support
Ball is rolled and is installed in the hole of bead opened up on top board, and ball base is installed on wheel hub by left and right side plate and uses holding screw
Fixed position.
It is described support ball number according to section wheel spacing distance (span) depending on (interval width it is small then set one or
Two support balls, interval width then sets greatly many support balls), the spacing distance of the section wheel depends on the diameter of wheel hub
Size.
Beneficial effects of the present invention：
1st, in the form of the omni-directional wheel without sideshake of the invention is interspersed using support ball with section wheel, by reduction not
The generation of trimming moment and ensure the smooth running of omni-directional wheel.
2nd, the present invention installs support ball using the ball base of clamp, and simple structure is easy for installation, can avoid branch
Support ball ensures that support ball is contacted with ground while coming off.
Brief description of the drawings
Fig. 1 is the three-dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is the front front view of Fig. 1 implementation methods.
Fig. 3 (a) is the side view of Fig. 2.
Fig. 3 (b) is the structural representation of ball base in Fig. 1, Fig. 2, Fig. 3.
Figure number is identified：1st, holding screw；2nd, ball base；2-1, side plate；2-2, top board；3rd, wheel hub；4th, section wheel；5th, back-up roller
Pearl；6th, Allen bolt；7th, the hole of bead；8th, axle sleeve.
Specific embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
Omni-directional wheel without sideshake of the invention, its wheel body includes left and right wheel hub 3, and left and right wheel hub 3 is in coaxial on axle sleeve 8
The many axial restraints of Allen bolt 6 of circumference uniform distribution are installed and use, the endoporus of the axle sleeve 8 is omni-directional wheel motor
Output shaft mounting hole, uniform intervals offer recess on the top circumference face of each wheel hub 3, and being provided with the recess can be left and right
The section wheel 4 of rotation, the diameter of the outline with diameter greater than wheel hub 3 of the section wheel 4, the section wheel 4 on left and right wheel hub 3 is staggeredly located,
As shown in Figure 1, Figure 2, shown in Fig. 3 (a).
Section to be taken turns and be provided with U-shaped ball base 2 on the hub body of 4 interval two-by-two on same wheel hub 3, and the ball base 2 is relied on
Left and right side plate 2-1 is installed on hub body, and the top board 2-2 (being connected to the top of left and right side plate 2-1) of ball base 2 is fitted in wheel
On the top circumference face of hub 3, left and right side plate 2-1 is fixed tightly on wheel hub 3 with holding screw 1, the top board 2-2 centers of ball base 2 are opened
Rolled if a hole of bead 7, in the hole of bead 7 and a support ball 5 be installed, each support ball 5 expose outside the top of top board 2-2 with
The outline of each section wheel 4 is on same circumference, as shown in Figure 1, Figure 2, shown in Fig. 3 (a), Fig. 3 (b).
Depending on spacing distance of the number of the support ball 5 according to section wheel 4, the setting of the spacing distance of the section wheel 4
Depending on the diameter of wheel hub 3.
Walking manner of the invention is：
The output shaft of omni-directional wheel motor drives the left and right synchronous axial system of wheel hub 3 and advances or retreat, the section on wheel hub 3
Wheel 4 and support ball 5 follow rotation, support ball 5 with each section wheel 4 on same circumference due to each so that left and right wheel hub 3
On there is a section wheel 4 and a support ball 5 to contact on ground all the time, so as to reach the purpose of steady operating, enhance complete
To wheel to the adaptability of DYNAMIC COMPLEX environment, it is to avoid only one section wheel 4 contacts ground and causes operating not in traditional structure
The problem of balance, so as to ensure that the stability of mechanism's operating.
Claims (3)
1. the omni-directional wheel without sideshake, including coaxially it is fixedly mounted with the left and right wheel hub (3) of forward and backward rotation, circumference on each wheel hub (3)
The section wheel (4) for turning left and right is evenly equipped with, the section wheel (4) on left and right wheel hub (3) is staggeredly located, it is characterised in that：Same wheel hub
(3) section wheel (4) interval on is provided with one or along the circumferential direction two ball (5) supported above, respectively supports ball (5) rolling
Dynamic to be installed in the corresponding hole of bead (7) of ball base (2), the ball base (2) is installed on the wheel hub of interval (2), each support
The top that ball (5) exposes is on same circumference with the outline of each section wheel (4).
2. the omni-directional wheel without sideshake according to claim 1, it is characterised in that：The ball base (2) is including left and right
Side plate (2-1) and the top board (2-2) being connected at the top of left and right side plate (2-1), support ball (5) roll and are installed on top board
In the hole of bead (7) opened up on (2-2), ball base (2) is installed on wheel hub (3) by left and right side plate (2-1) and uses holding screw
(1) fixed position.
3. the omni-directional wheel without sideshake according to claim 1 and 2, it is characterised in that：The number of support ball (5)
Depending on spacing distance of the mesh according to section wheel (4), the spacing distance of section wheel (4) depends on the diameter of wheel hub (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611206050.0A CN106696598B (en) | 2016-12-23 | 2016-12-23 | Omnidirectional wheel without lateral swing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611206050.0A CN106696598B (en) | 2016-12-23 | 2016-12-23 | Omnidirectional wheel without lateral swing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106696598A true CN106696598A (en) | 2017-05-24 |
| CN106696598B CN106696598B (en) | 2023-04-11 |
Family
ID=58903080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611206050.0A Active CN106696598B (en) | 2016-12-23 | 2016-12-23 | Omnidirectional wheel without lateral swing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106696598B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984967A (en) * | 2017-12-28 | 2018-05-04 | 内江师范学院 | A kind of omni-directional wheel of high accuracy positioning |
| CN109703288A (en) * | 2019-01-02 | 2019-05-03 | 中山市海洋丰裕智能科技有限公司 | Universal caster wheel |
| CN110450853A (en) * | 2019-08-15 | 2019-11-15 | 珠海格力智能装备有限公司 | AGV trolley |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013189069A (en) * | 2012-03-13 | 2013-09-26 | Tosa Denshi:Kk | Omni wheel |
| CN203957704U (en) * | 2013-12-12 | 2014-11-26 | 王涛 | Single omni-directional wheel |
| CN204586338U (en) * | 2015-02-02 | 2015-08-26 | 东莞威信运动用品有限公司 | Cardan wheel |
| CN205524543U (en) * | 2016-03-11 | 2016-08-31 | 深圳小趴智能科技有限公司 | Omniwheel body structure and robot |
| CN205523384U (en) * | 2016-04-25 | 2016-08-31 | 成都电科创品机器人科技有限公司 | Hinder omniwheel and mobile device more |
| CN206306730U (en) * | 2016-12-23 | 2017-07-07 | 桂林电子科技大学 | Omni-directional wheel without sideshake |
-
2016
- 2016-12-23 CN CN201611206050.0A patent/CN106696598B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013189069A (en) * | 2012-03-13 | 2013-09-26 | Tosa Denshi:Kk | Omni wheel |
| CN203957704U (en) * | 2013-12-12 | 2014-11-26 | 王涛 | Single omni-directional wheel |
| CN204586338U (en) * | 2015-02-02 | 2015-08-26 | 东莞威信运动用品有限公司 | Cardan wheel |
| CN205524543U (en) * | 2016-03-11 | 2016-08-31 | 深圳小趴智能科技有限公司 | Omniwheel body structure and robot |
| CN205523384U (en) * | 2016-04-25 | 2016-08-31 | 成都电科创品机器人科技有限公司 | Hinder omniwheel and mobile device more |
| CN206306730U (en) * | 2016-12-23 | 2017-07-07 | 桂林电子科技大学 | Omni-directional wheel without sideshake |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984967A (en) * | 2017-12-28 | 2018-05-04 | 内江师范学院 | A kind of omni-directional wheel of high accuracy positioning |
| CN109703288A (en) * | 2019-01-02 | 2019-05-03 | 中山市海洋丰裕智能科技有限公司 | Universal caster wheel |
| CN110450853A (en) * | 2019-08-15 | 2019-11-15 | 珠海格力智能装备有限公司 | AGV trolley |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106696598B (en) | 2023-04-11 |
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